相关论文: Vision System and Depth Processing for DRC-HUBO+

Depth estimation plays a pivotal role in autonomous driving, facilitating a comprehensive understanding of the vehicle's 3D surroundings. Radar, with its robustness to adverse weather conditions and capability to measure distances, has…

Can we see it all? Do we know it All? These are questions thrown to human beings in our contemporary society to evaluate our tendency to solve problems. Recent studies have explored several models in object detection; however, most have…

This paper presents the perception system of a new professional cleaning robot for large public places. The proposed system is based on multiple sensors including 3D and 2D lidar, two RGB-D cameras and a stereo camera. The two lidars…

Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prior knowledge and are susceptible to…

We investigate multiple techniques to improve upon the current state of the art deep convolutional neural network based image classification pipeline. The techiques include adding more image transformations to training data, adding more…

This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…

Existing hologram super-resolution (HSR) methods primarily focus on angle-of-view expansion. Adapting them for volumetric spatial up-sampling introduces severe quadratic depth distortion, degrading 3D focal accuracy. We propose CV-HoloSR, a…

Recently, 3D version has been improved greatly due to the development of deep neural networks. A high quality dataset is important to the deep learning method. Existing datasets for 3D vision has been constructed, such as Bigbird and YCB.…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

In this endeavor, we developed a comprehensive system that processes integrated visual features derived from video frames captured by a regular camera, along with depth details obtained from a point cloud scanner. This system is designed to…

Deformable objects manipulation can benefit from representations that seamlessly integrate vision and touch while handling occlusions. In this work, we present a novel approach for, and real-world demonstration of, multimodal visuo-tactile…

In this paper we present a novel deep learning method for 3D object detection and 6D pose estimation from RGB images. Our method, named DPOD (Dense Pose Object Detector), estimates dense multi-class 2D-3D correspondence maps between an…

Repair and maintenance of underwater structures as well as marine science rely heavily on the results of underwater object detection, which is a crucial part of the image processing workflow. Although many computer vision-based approaches…

Performing single image holistic understanding and 3D reconstruction is a central task in computer vision. This paper presents an integrated system that performs dense scene labeling, object detection, instance segmentation, depth…

Depth maps captured with commodity sensors are often of low quality and resolution; these maps need to be enhanced to be used in many applications. State-of-the-art data-driven methods of depth map super-resolution rely on registered pairs…

We present an autonomous exploration system for efficient coverage of unknown environments. First, a rapid environment preprocessing method is introduced to provide environmental information for subsequent exploration planning. Then, the…

Over many decades, researchers working in object recognition have longed for an end-to-end automated system that will simply accept 2D or 3D image or videos as inputs and output the labels of objects in the input data. Computer vision…

Most conventional supervised super-resolution (SR) algorithms assume that low-resolution (LR) data is obtained by downscaling high-resolution (HR) data with a fixed known kernel, but such an assumption often does not hold in real scenarios.…

Recent years have seen impressive progress in visual recognition on many benchmarks, however, generalization to the real-world in out-of-distribution setting remains a significant challenge. A state-of-the-art method for robust visual…

Autonomous robotic manipulation in clutter is challenging. A large variety of objects must be perceived in complex scenes, where they are partially occluded and embedded among many distractors, often in restricted spaces. To tackle these…